%-----------------------------------------------------------
% Carlos Cabral 2003 - Dep.UA

% representacao
%----------------------------------------------------------
   
function REPRESENT(coord_circ, cart_data, coord_loc_robot)

    % representaçao do pilar circular
    for i13=1:length(coord_circ(:,1))
        o=0:pi/100:2*pi;
        xc=coord_circ(i13,1)+coord_circ(i13,3)*sin(o);
        yc=coord_circ(i13,2)+coord_circ(i13,3)*cos(o);
        plot(xc,yc,'r'), grid on, axis ('equal'),axis([-8300 8300 -2000 9000])                       
        hold on
    end
    

plot(cart_data(:,1),cart_data(:,2),cart_data(:,1),cart_data(:,2),'.',0,0,'ro'), grid on, axis ('equal'),axis([-8300 8300 -2000 9000]) 
figure (2)
hold on
plot([0 0 0 0 0 0], [0 5400 10800 14400 19800 23400],'o',[3400 3400 3400 -3400 -3400 -3400 3400 -3400],...
[19800 5400 0 5400 0 19800 23300 23300],'s',coord_loc_robot(1,1),coord_loc_robot(1,2),'.'),grid on, axis('equal'),axis([-15000 15000 -4000 24000])     
hold off
figure (1)
hold off